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1. 发明申请

US20100078953A1 WORKPIECE GRIPPING DEVICE 有权
标题翻译：工作设备
公开(公告)号：US20100078953A1
公开(公告)日：2010-04-01
申请号：US12555150
申请日：2009-09-08
申请人： Kazunori BAN , Fumikazu WARASHINA , Shouta TAKIZAWA
发明人： Kazunori BAN , Fumikazu WARASHINA , Shouta TAKIZAWA
IPC分类号： B66C1/42 , B66C1/02 , B66C1/04
CPC分类号： B25J15/0616 , B25J15/0266
摘要： A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.
摘要翻译：工件夹持装置包括主捕捉机构，其具有适于通过抽吸动力保持工件的吸盘和具有安装在其一端上的吸盘的杆状部件，夹持夹持工件的夹爪，用于供给的驱动单元驱动力和将驱动单元的驱动力传递到夹爪的传动机构。所述传动机构沿着所述杆状部件的轴线将所述抓持爪沿夹持位置移动到所述抓持爪突出超过所述吸盘之间的夹持位置和所述夹持爪从所述吸盘朝向所述基板后退的位置。夹持爪沿杆状部件的轴线移动到夹紧位置，同时缩短夹紧爪之间的距离。

2. 发明申请

US20100191372A1 PRODUCTION SYSTEM HAVING COOPERATING PROCESS AREA BETWEEN HUMAN AND ROBOT 有权
标题翻译：生产系统具有人机与机器人之间的合作过程
公开(公告)号：US20100191372A1
公开(公告)日：2010-07-29
申请号：US12694201
申请日：2010-01-26
申请人： Ryo NIHEI , Shinsuke SAKAKIBARA , Kazunori BAN , Masahiro MORIOKA , Satoshi ADACHI , Shouta TAKIZAWA
发明人： Ryo NIHEI , Shinsuke SAKAKIBARA , Kazunori BAN , Masahiro MORIOKA , Satoshi ADACHI , Shouta TAKIZAWA
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203
摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
摘要翻译：人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。机器人位于工作台的一侧，操作者位于工作台的另一侧。操作员的可达区域受工作台的限制。工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人入境禁区。

3. 发明申请

US20110218675A1 ROBOT SYSTEM COMPRISING VISUAL SENSOR 有权
标题翻译：包含视觉传感器的机器人系统
公开(公告)号：US20110218675A1
公开(公告)日：2011-09-08
申请号：US13014769
申请日：2011-01-27
申请人： Kazunori BAN , Fumikazu Warashina , Makoto Yamada , Yuuta Namiki
发明人： Kazunori BAN , Fumikazu Warashina , Makoto Yamada , Yuuta Namiki
IPC分类号： B25J13/08
CPC分类号： B25J9/1697
摘要： A robot system (10) includes: a processing section (32) that calculates positional information of a workpiece with respect to a visual sensor (13); a clock (35) to which a robot controlling section (31) and the processing section access to check a present time; a first storing section (33) that sequentially stores first times at a predetermined cycle in combination with positional information items of an arm tip at the first times, respectively; a second storing section (34) that stores a second time when the visual sensor measures the workpiece; an arm tip position calculating section (41) that calculates positional information of the arm tip when the visual sensor measures the workpiece based on the second time, at least two of the first times before and after the second time among the first times and the positional information items of the arm tip corresponding to the respective first times; and a workpiece position calculating section (42) that calculates positional information of the grasped workpiece with respect to the arm tip based on the positional information of the arm tip and the workpiece. Consequently, even when the workpiece is imaged without temporarily stopping operation of the robot, a position of the workpiece can be accurately calculated based on an accurate robot position.
摘要翻译：机器人系统（10）包括：处理部（32），其计算相对于视觉传感器（13）的工件的位置信息; 机器人控制部分（31）和处理部分访问的时钟（35），以检查当前时间; 第一存储部分，分别以第一次与臂尖的位置信息项相结合地以预定的周期顺次存储第一次; 第二存储部（34），其在视觉传感器测量工件时存储第二次; 臂部位置计算部（41），其在第二时刻计算视觉传感器测量工件时的臂尖的位置信息，第一时间之后的第二时间之前和之后的第一次的位置信息和位置对应于各自的第一次的臂尖的信息项; 以及工件位置计算部（42），其基于臂尖端和工件的位置信息来计算被抓握的工件相对于臂尖的位置信息。因此，即使在不使机器人暂时停止操作的状态下对工件进行成像，也能够基于准确的机器人位置来精确地计算出工件的位置。

4. 发明申请

US20070177790A1 WORKPIECE PICKING DEVICE 有权
标题翻译：工作拍摄设备
公开(公告)号：US20070177790A1
公开(公告)日：2007-08-02
申请号：US11669477
申请日：2007-01-31
申请人： Kazunori BAN , Fumikazu WARASHINA , Keisuke WATANABE
发明人： Kazunori BAN , Fumikazu WARASHINA , Keisuke WATANABE
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.
摘要翻译：能够正确地检测工件的尺寸的工件拾取装置。拾取装置具有能够拾取包含在工作容器中的相同种类的工件的机器人，用于控制机器人的机器人控制器，位于工作容器上方的摄像机，以便广泛地对工件进行成像以及用于处理工件的图像处理器由摄像机获得的图像。每个工件的立体位置和姿势通过布置在机器人腕部上的三维视觉传感器来测量。

5. 发明申请

US20080240511A1 APPARATUS FOR PICKING UP OBJECTS 有权
标题翻译：摄制对象的装置
公开(公告)号：US20080240511A1
公开(公告)日：2008-10-02
申请号：US12057423
申请日：2008-03-28
申请人： Kazunori BAN , Ichiro KANNO , Hidetoshi KUMIYA , Shouta TAKIZAWA
发明人： Kazunori BAN , Ichiro KANNO , Hidetoshi KUMIYA , Shouta TAKIZAWA
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G06T1/0007 , G06T7/13 , G06T7/75 , G06T7/77 , G06T2207/30164 , G06T2207/30248
摘要： An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.
摘要翻译：一种用于拾取物体的装置，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于坐标系的位置或位置姿势的信息机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

6. 发明申请

US20100305754A1 ARTICLE CONVEYING ROBOT SYSTEM 有权
标题翻译：文章传送机器人系统
公开(公告)号：US20100305754A1
公开(公告)日：2010-12-02
申请号：US12768868
申请日：2010-04-28
申请人： Kazunori BAN , Ichiro KANNO , Fumikazu WARASHINA , Masafumi OOBA
发明人： Kazunori BAN , Ichiro KANNO , Fumikazu WARASHINA , Masafumi OOBA
IPC分类号： G05B19/418
CPC分类号： B25J9/0093 , B25J9/1697 , G05B19/4182 , G05B2219/39102 , G05B2219/40007 , Y02P90/083
摘要： An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.
摘要翻译：一种能够通过使用机器人有效地容纳由输送机输送的容器中的物品的物品输送机器人系统。容器检测部基于容器的检测结果来测量包含单元的图像的阴影分布，检测各单元的容纳状态，存储各单元的检测结果。上游侧机器人的控制器的信息管理部分从下游侧机器人的控制器的容器检测部分接收信息，然后生成包含单元信息。信息管理部分检查要处理的小区信息，然后仅当物品不在相应的小区中时将小区信息发送到任务执行部分。任务执行部分控制机器人，以便基于单元信息来定位所选单元中的文章。

7. 发明申请

US20100141776A1 CALIBRATING DEVICE FOR CALIBRATION AND IMAGE MEASUREMENT SYSTEM COMPRISING CALIBRATING DEVICE 有权
标题翻译：用于校准和图像测量系统的校准装置包括校准装置
公开(公告)号：US20100141776A1
公开(公告)日：2010-06-10
申请号：US12631094
申请日：2009-12-04
申请人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
发明人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
IPC分类号： H04N17/00
CPC分类号： B25J9/1692 , G05B2219/37563 , G05B2219/39045 , G06T7/80
摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.
摘要翻译：用于校准图像测量系统的校准装置。校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

8. 发明申请

US20110029131A1 APPARATUS AND METHOD FOR MEASURING TOOL CENTER POINT POSITION OF ROBOT 审中-公开
标题翻译：测量机器人工具中心点位置的装置和方法
公开(公告)号：US20110029131A1
公开(公告)日：2011-02-03
申请号：US12838046
申请日：2010-07-16
申请人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen
发明人： Kazunori BAN , Katsutoshi Takizawa , Gang Shen
IPC分类号： G05B19/04
CPC分类号： B25J9/1692 , B25J9/1697 , Y10S901/47
摘要： A measurement apparatus for determining a position of a tool center point (31) of a tool (30), which is attached to a tool attachment surface (32) of a robot (1), with respect to the tool attachment surface (32) includes: a camera (4) attached to the arm tip portion of the robot (1); a touch-up point (an origin of Σm) disposed in a working space of the robot; a measurement section (11a) for measuring the position of the touch-up point by using the robot and the camera; a first storage section (12a) for storing the measured position of the touch-up point; a second storage section (12b) for storing a position of the robot (1) when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section (11b) for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot. Therefore, the position of the tool center point with respect to the tool attachment surface is measured with high accuracy in a short period of time without using a substitution jig.
摘要翻译：一种用于确定相对于工具附接表面（32）附接到机器人（1）的工具附接表面（32）的工具（30）的工具中心点（31）的位置的测量装置，包括：附接到机器人（1）的臂尖部的相机（4）; 设置在机器人的工作空间中的接触点（Sgr的原点）; 用于使用所述机器人和所述照相机测量所述接触点的位置的测量部分（11a）; 第一存储部分（12a），用于存储所述接触点的测量位置; 第二存储部（12b），用于通过移动所述机器人来存储所述机器人（1）在所述工具中心点与所述接触点对准时的位置; 以及计算部，其通过使用所述接触点和所述机器人的存储位置来计算所述工具中心点相对于所述机器人的所述工具安装面的位置。因此，在不使用取代夹具的情况下，在短时间内高精度地测量刀具中心点相对于刀具附接面的位置。

9. 发明申请

US20070213873A1 TEACHING POSITION CORRECTING APPARATUS AND TEACHING POSITION CORRECTION METHOD 有权
标题翻译：教学位置校正装置和教学位置校正方法
公开(公告)号：US20070213873A1
公开(公告)日：2007-09-13
申请号：US11684503
申请日：2007-03-09
申请人： Kazunori BAN , Ichiro KANNO , Gang SHEN , Katsutoshi TAKIZAWA
发明人： Kazunori BAN , Ichiro KANNO , Gang SHEN , Katsutoshi TAKIZAWA
IPC分类号： G06F19/00
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/40385 , G05B2219/45104
摘要： A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.
摘要翻译：教学位置校正装置（1）通过将机器人（2）顺序地移动到多个教学点中的每一个并且通过顺序地读取机器人的当前位置来校正机器人操作程序中的机器人（2）的多个教学点位置（2）在多个教学点的每一个。教学位置校正装置（1）包括：基于校正后的教学点位置和教学点位置来计算位置校正量（A）的位置校正量计算单元（11a）以及校正位置计算装置，其基于位置校正量（A）计算多个教学点之前的校正前的教学点位置的校正位置。在将机器人移动到未校正的教导点时，移动装置（15）将机器人移动到校正前的教学点位置的校正位置。基于上述操作，即使在机器人的姿态变化大的情况下，能够在短时间内精确地校正操作程序中的教导点位置。

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